Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion
Maegan Tucker,Kejun Li,Aaron D. Ames,Maegan Tucker,Kejun Li,Aaron D. Ames
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness – the estimated size of the hybrid forward invariant set associated with the step-to-step dynamics. Here, the forward invariant set can be loosely interpreted as the ...
